CN113007492A - Rigid-flexible combined continuous propulsion pipeline robot - Google Patents
Rigid-flexible combined continuous propulsion pipeline robot Download PDFInfo
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- CN113007492A CN113007492A CN202110239201.7A CN202110239201A CN113007492A CN 113007492 A CN113007492 A CN 113007492A CN 202110239201 A CN202110239201 A CN 202110239201A CN 113007492 A CN113007492 A CN 113007492A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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Abstract
The invention relates to a rigid-flexible combined continuous propulsion pipeline robot which is formed by sequentially connecting at least one group of front telescopic mechanisms, one group of front supporting mechanisms, one group of middle telescopic mechanisms, one group of rear supporting mechanisms and one group of rear telescopic mechanisms through a quick connecting assembly along the axial direction of a pipeline; the quick connecting assembly is a connecting assembly with two-direction rotational freedom degrees; the front and rear telescopic mechanisms are respectively formed by one or more groups of actuator telescopic assemblies in a same-direction serial connection mode; the middle telescopic mechanism is formed by connecting at least two groups of actuator telescopic assemblies in series in a back-to-outside manner in the telescopic direction; the actuator telescopic component adopts a hydraulic cylinder or a pneumatic cylinder; the robot is rapidly propelled through the movement of the piston rod; the front supporting mechanism and the rear supporting mechanism are respectively formed by connecting one group or a plurality of groups of leather bag supporting components in series; the bladder support assembly is of a radially expandable and contractible construction. The invention improves the running efficiency and the pipe diameter adaptability of the robot and the traction capability and the reliability of the robot.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and particularly relates to a rigid-flexible combined continuous propulsion pipeline robot.
Background
With the continuous development of the modernization process of the society, the pipeline robot is more and more widely applied as a special robot in the fields of industry, agriculture, military, urban infrastructure, petroleum and natural gas and the like. However, most of the pipeline robots currently applied to small and medium-sized pipes have the problems of insufficient traction force, poor adaptability, low reliability, low operation efficiency and the like, and the working capacity and practical popularization of the pipeline robots are severely limited.
The main reasons for the insufficient traction are: the existing pipeline robot is mainly divided into an electric transmission mode and a fluid transmission mode in terms of driving modes, the driving power density of a motor is low, and the output force is smaller than that of a fluid driving mode under the condition of the same energy storage, so that a larger load is difficult to drag; secondly, the pipeline robot is mainly divided into a wheel type and a telescopic type in the motion form. The wheel type pipeline robot has the advantages that the driving wheels are in contact with the inner wall of the pipeline, the robot is driven to walk by the friction force of the wheels and the pipeline, the static friction force of the wheels and the pipeline wall is small, and the output traction force is small; thirdly, the telescopic pipeline robot is similar to insect wriggling, and the telescopic pipeline robot walks in an alternating manner with the support: the supporting structure is clamped against the inner wall of the pipeline, and a telescopic mechanism pulls the load. At present, most of supporting mechanisms are rigidly designed, the contact area of the supporting mechanisms and the inner wall of a pipeline is small, and the generated static friction force is small, so that larger output power is difficult to ensure.
The main reasons for poor adaptability are: the wheel type structure is only suitable for the occasions with regular inner walls of pipelines and good surfaces, and if the inner walls of the pipelines are irregular and obstacles exist, the passing ratio of the wheel type pipeline robot is poor. The moving mechanism of the telescopic pipeline robot has the advantage of crossing obstacles in the pipeline, but the existing rigid supporting structure cannot be well attached to the inner wall of the pipeline, the locking function cannot be guaranteed, and the trafficability characteristic is not strong.
The main reasons for the low reliability and operating efficiency are: the motor drives the pipeline robot driving and controlling instrument, mostly concentrated in the body, when the pipeline is under high temperature and high pressure or other harsh environment, the failure rate of the components is high, influence the normal operating efficiency of the robot; meanwhile, if the pipeline robot is in service in flammable and explosive dangerous environments and the like, the danger index of the pipeline robot driven by the motor is greatly increased, and the reliability of the robot is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a rigid-flexible combined continuous propulsion pipeline robot which can improve the running efficiency and the pipe diameter adaptability of the robot and can improve the traction capability and the reliability of the robot.
The above object of the present invention is achieved by the following technical solutions:
the utility model provides a continuous propulsion pipeline robot of hard and soft integration which characterized in that: along the axial direction of the pipeline, the continuous propulsion pipeline robot is formed by sequentially connecting at least one group of front telescopic mechanisms, one group of front supporting mechanisms, one group of middle telescopic mechanisms, one group of rear supporting mechanisms and one group of rear telescopic mechanisms through a quick connecting assembly; the quick connecting assembly is a connecting assembly with two directions of rotational freedom degrees, and the two directions are perpendicular to the axial direction of the pipeline;
the front telescopic mechanism and the rear telescopic mechanism are formed by one or more groups of actuator telescopic assemblies in a same-direction serial connection mode; the middle telescopic mechanism is formed by at least two groups of actuator telescopic assemblies which are connected in series in a back-to-outside mode in the telescopic direction; the actuator telescopic assembly adopts a hydraulic cylinder or a pneumatic cylinder; the robot is rapidly propelled through the movement of the piston rod;
the front supporting mechanism and the rear supporting mechanism are formed by connecting one or more groups of leather bag supporting components in series; the leather bag supporting component is a structure which can expand and contract along the radial direction;
the continuous propulsion pipeline robot further comprises a fluid power and control assembly; the fluid power and control assembly is arranged on the periphery of the robot and used for providing motion energy for the robot, controlling the action direction and the size of each actuator telescopic assembly and controlling the expansion and the contraction of each leather bag supporting assembly.
Further: the leather bag supporting component comprises a leather bag, two end covers, two pipe joints, an inner sleeve and two connecting seats; the leather bag is in a sleeve shape, and two ends of the leather bag are sleeved and fastened on the outer circular surfaces of the two end covers; the two end covers are provided with central through holes, and the two end covers are also provided with fluid holes; the inner sleeve is coaxially arranged in the leather bag, and two ends of the inner sleeve are respectively sleeved and fixedly connected with the inner ends of the two pipe joints; the outer ends of the two pipe joints are respectively and fixedly connected with the inner side ends of the two end covers, and the central holes of the pipe joints are aligned and communicated with the central through hole of the end cover; the two connecting seats are respectively and fixedly connected with the outer ends of the two end covers, and connecting studs are respectively fixed on the two connecting seats to respectively form a first outer connecting end and a second outer connecting end of the leather bag supporting component.
Further: the end of the hydraulic cylinder or the pneumatic cylinder, which extends out of the piston rod, is provided with external threads and is a first external connection end of the actuator telescopic assembly; the cylinder body end of the hydraulic cylinder or the pneumatic cylinder is provided with a bolt column to form a second external end of the actuator telescopic assembly.
Further: the two ends of the quick connection assembly are externally connected ends and are respectively provided with a threaded hole.
The invention has the advantages and positive effects that:
1. the traction force is greater. The main manifestations are in two aspects: most of the existing small and medium-sized pipeline robots are driven by a motor, the pipeline robots are driven by fluid, the energy density is higher, the output traction force is higher, the fluid can be water pressure, oil pressure and air pressure or other gas-liquid mixed fluids, for example, in the field of oil drilling, and the filtered drilling fluid can also be used as a driving fluid. Meanwhile, the pipeline robot can realize the quick connection of a multi-module unit group, and a leather bag supporting assembly and an actuator telescopic assembly are added according to actual requirements, so that compared with the existing pipeline robot with a fixed structure, the traction capacity is greatly improved;
2. the adaptability is stronger. Through adopting telescopic propulsion, compare wheeled removal and crawler-type removal, this pipeline robot strides barrier ability reinforce, adapts to different environment internal surface pipelines. Simultaneously, the flexible leather bag supporting structure further strengthens the force of supporting in the pipe and the passing performance of different pipe diameters.
3. The reliability is higher. The modular multi-unit-group serial connection mode is adopted, and even if a certain telescopic unit assembly breaks down, the moving work of the whole robot is not influenced. Meanwhile, the robot power and control unit is separated from the robot walking unit, so that the safety of the robot in running in a dangerous environment is improved.
4. And (4) continuously advancing. In the propulsion mechanism, the robot is a combination of a traditional telescopic pipeline robot and a wheel type pipeline robot. The front end is continuously pushed forwards, the rear end is continuously pushed forwards, and the whole center of the robot is also continuously pushed forwards.
Drawings
Fig. 1 is a schematic overall perspective view of a first embodiment of the present invention;
FIG. 2 is a schematic structural view of the actuator retraction assembly of the present invention; 2a, an appearance perspective view; 2b, a cross-sectional view;
FIG. 3 is a schematic view of the construction of the bladder support assembly of the present invention; 3a, a perspective view of the appearance in an unexpanded state; 3b, unexpanded cross-sectional view; 3c, a perspective view of the appearance in the expanded state;
FIG. 4 is a schematic view of the quick connect assembly of the present invention
FIG. 5 is a flowchart of a first embodiment of the present invention;
FIG. 6 is a schematic view of the present invention moving within a curved pipe;
FIG. 7 is a schematic view of the present invention moving within an irregular pipe;
FIG. 8 is a schematic structural diagram of a second embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a third embodiment of the present invention;
fig. 10 is a schematic structural diagram of a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative only and not limiting, and the scope of the present invention is not limited thereby.
The basic unit component of the pipeline robot consists of a fluid power and control component, an actuator telescopic component 1, a leather bag supporting component 3 and a quick connecting component 2.
The fluid power and control assembly provides motion energy for the robot, controls the action direction and the size of each actuator telescopic assembly and controls the expansion and the contraction of each leather bag supporting assembly, and is arranged on the periphery of the robot, so that the size of a robot mechanism body is reduced, and the operation safety of the robot is improved. The fluid power assembly mainly comprises a prime mover, such as an internal combustion engine or an electric motor and the like, drives a fluid power element, such as a hydraulic pump or a pneumatic pump and the like, and provides pressure fluid power for the robot system, the fluid control assembly comprises a plurality of switch reversing valves and the like, the actuator telescopic assemblies and the leather bag supporting assemblies are controlled to act according to specific time sequences, and each actuator telescopic assembly and each leather bag supporting assembly correspond to one switch reversing valve, so that the control flexibility is improved. For example, a switch diverter valve connected to a bladder fluid port may take the form of a two-position three-way valve. When the fluid hole is communicated with a high-pressure fluid pipeline of the fluid power system, the fluid flows into the leather bag, and the leather bag expands to support the pipe wall; the switch valve is reversed, the fluid hole is communicated with the low-pressure fluid pipeline of the fluid power system, the fluid flows out of the leather bag, the leather bag contracts, and the surface of the leather bag is separated from the pipe wall.
The actuator telescopic assembly is composed of a rigid fluid power actuator, and the robot is rapidly propelled through the movement of a piston rod; the leather bag supporting component is a flexible leather bag and related components, and the inner wall of the pipeline is supported in a self-adaptive mode, so that the robot is guaranteed to be fixed reliably.
Quick coupling assembling is used for connecting other two subassemblies, promotes robot bend throughput, quick coupling assembling is for having the coupling assembling of two direction rotational degrees of freedom, these two directions perpendicular to pipeline axial direction. Quick coupling assembling's both ends are external end, are provided with screw hole 2.1 respectively to connect the other subassemblies at both ends. The pipeline machine alternately supports the inner wall of the pipeline through the basic components to realize continuous propulsion. Pipeline robot front end connects the module soon, can connect all kinds of test instrument and operation instrument, and the robot rear end connects the module soon, also can pull cable and other load tools, and trailing end connection energy pipeline and signal cable promote robot moving range and accident guarantee.
The following four embodiments are used to illustrate the specific structure and working principle of the present invention:
the first embodiment is as follows:
referring to fig. 1-4, the overall structure of the pipeline robot is composed of 4 actuator telescopic assemblies, 2 bladder supporting assemblies and a plurality of quick connecting assemblies. A moving piston rod is arranged in the actuator telescopic assembly, and the robot is driven to move back and forth by extending and retracting; the leather bag supporting component is separated from the inner wall of the pipeline and locked through the contraction and expansion of the leather bag, and the movement and fixation of the robot pipeline are guaranteed.
The actuator telescoping assembly:
the flexible subassembly of executor mainly includes: the hydraulic control system comprises an actuator cylinder body 1.2, a moving piston rod 1.1, a base 1.3 and a positioning nut.
The actuator cylinder body is provided with a fluid inlet and a fluid outlet, high-pressure fluid and low-pressure fluid enter the actuator cylinder body to realize the extension and retraction of the moving piston rod, the base is arranged on one side of the cylinder body and is connected with the cylinder body through screws to prevent the fluid from overflowing, and the base is provided with a bolt column which can be matched and connected with a threaded hole of the quick connection assembly. One end of the moving piston rod is provided with a piston, fluid acts on two surfaces to cause the piston to move, the other end of the moving piston rod is provided with a rod piece, the end surface of the rod piece is provided with threads, and the rod piece can be matched and connected with a threaded hole of the quick connecting assembly
A bladder support assembly:
the leather bag supporting component mainly comprises: the leather bag 3.3 has good elasticity and can be enlarged and reduced along with the shape of the fluid entering and discharging; the two end covers 3.2 are respectively arranged at two sides of the leather bag, the end part of the leather bag is glued with the end covers, the sealing performance is ensured, and meanwhile, the end covers are matched with the locking steel belt to ensure the firmness; the end cover is annular, the excircle is matched with the leather bag, the inner ring is matched with the pipe joints, the two pipe joints 3.4 are connected with the inner sleeve 3.5, the joint is sealed by glue, and a small steel belt is locked; the inner sleeve is internally provided with a fluid pipeline required by the robot and related signal cables. The two end covers are provided with fluid holes which are passages for fluid to enter and exit, and the fluid enters and exits the annular areas of the leather bag and the sleeve to control the expansion and contraction of the leather bag, so that the fluid space is reduced due to the existence of the inner sleeve, and the quick support and the quick separation from the inner wall of the pipeline are facilitated. The connecting seat 3.1 is arranged on the end cover surface and fixed by screws, and the connecting seat is provided with a connecting bolt which can be in threaded fit with the quick connecting assembly.
The specific working process is as follows:
the pipeline robot is in a positive direction to the right, see fig. 5.
Assuming that the state is initially the state of a graph A, the piston rods No. 1 and No. 4 are extended out, the piston rods No. 2 and No. 3 are retracted, the leather bags No. a and No. b are retracted, and the robot is still;
working step 1, as shown in a figure B, firstly, a leather bag A is quickly expanded and locked with the inner wall of a pipeline, at the moment, a piston rod 1 is retracted, and the load at the rear end of the robot moves forwards for a certain distance; meanwhile, the No. 2 and No. 3 piston rods extend out, the No. 4 piston rod retracts, and the front end of the robot moves forwards for a certain distance; in the process, the whole center of the robot moves forwards by the same distance (shown by a dot in the figure);
working step 2, as shown in figure C, when the No. a leather bag contracts, the No. b leather bag expands to support the pipe wall; the No. 4 piston rod extends out, and the front end of the robot moves forwards for a certain distance; the No. 2 and No. 3 piston rods are contracted, the No. 1 piston rod is extended out, and the rear end of the robot integrally moves forwards for a certain distance; in the process, the whole center of the robot moves forwards by the same distance.
And then, continuously repeating the actions of the components in the working step 1 and the working step 2, and realizing continuous forward movement of the robot.
In the process, the front end is continuously pushed forwards, the rear end is continuously pushed forwards, and the whole center of the robot is also continuously pushed forwards.
Example two:
the embodiment is a derivative structure of the first embodiment, and on the basis of the first embodiment, a group of actuator telescopic assemblies, a group of leather bag supporting assemblies and a group of actuator telescopic assemblies are sequentially added at the front end of the No. 4 actuator telescopic assembly. The whole length of multiplicable pipeline robot like this improves robot mobility stability, is applicable to the pipeline inner wall shape irregularity, and the condition that the robot work environment is abominable.
The action process is shown in figure 8.
Example three:
the present embodiment is also a derivative structure of the first embodiment, and the difference from the first embodiment is: the supporting parts at the front and the back are formed by connecting two groups of leather bag supporting components in series, so that the supporting contact area with the pipeline can be increased, the friction force between the leather bags and the pipeline is further increased, the robot is ensured to output larger traction force, and the robot is suitable for a working environment in which the friction coefficient of the inner wall of the pipeline is relatively small or the load has a larger requirement on the dragging force of the robot.
Please refer to fig. 9.
Example four:
the present embodiment is also a derivative structure of the first embodiment, and the difference from the first embodiment is:
1. the front and the back support parts are formed by connecting two groups of leather bag support assemblies in series, so that the contact area with the pipeline support can be increased, the leather bags are guaranteed to be firmly locked, and the leather bag locking device is generally suitable for the robot work environment with larger traction force requirements.
2. The front, middle and back telescopic parts are formed by connecting double actuator telescopic assemblies in series, so that the telescopic range of the telescopic assemblies in unit time can be increased, namely the telescopic speed of a telescopic mechanism is increased, the movement speed of the whole pipeline robot is increased, and the telescopic mechanism is generally suitable for working environments with higher requirements on the speed of the robot.
Please refer to fig. 10 for the action process.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (4)
1. The utility model provides a continuous propulsion pipeline robot of hard and soft integration which characterized in that: along the axial direction of the pipeline, the continuous propulsion pipeline robot is formed by sequentially connecting at least one group of front telescopic mechanisms, one group of front supporting mechanisms, one group of middle telescopic mechanisms, one group of rear supporting mechanisms and one group of rear telescopic mechanisms through a quick connecting assembly; the quick connecting assembly is a connecting assembly with two directions of rotational freedom degrees, and the two directions are perpendicular to the axial direction of the pipeline;
the front telescopic mechanism and the rear telescopic mechanism are formed by one or more groups of actuator telescopic assemblies in a same-direction serial connection mode; the middle telescopic mechanism is formed by at least two groups of actuator telescopic assemblies which are connected in series in a back-to-outside mode in the telescopic direction; the actuator telescopic assembly adopts a hydraulic cylinder or a pneumatic cylinder; the robot is rapidly propelled through the movement of the piston rod;
the front supporting mechanism and the rear supporting mechanism are formed by connecting one or more groups of leather bag supporting components in series; the leather bag supporting component is a structure which can expand and contract along the radial direction;
the continuous propulsion pipeline robot further comprises a fluid power and control assembly; the fluid power and control assembly is arranged on the periphery of the robot and used for providing motion energy for the robot, controlling the action direction and the size of each actuator telescopic assembly and controlling the expansion and the contraction of each leather bag supporting assembly.
2. The rigid-flexible fusion continuous propulsion pipeline robot of claim 1, characterized in that: the leather bag supporting component comprises a leather bag, two end covers, two pipe joints, an inner sleeve and two connecting seats; the leather bag is in a sleeve shape, and two ends of the leather bag are sleeved and fastened on the outer circular surfaces of the two end covers; the two end covers are provided with central through holes, and the two end covers are also provided with fluid holes; the inner sleeve is coaxially arranged in the leather bag, and two ends of the inner sleeve are respectively sleeved and fixedly connected with the inner ends of the two pipe joints; the outer ends of the two pipe joints are respectively and fixedly connected with the inner side ends of the two end covers, and the central holes of the pipe joints are aligned and communicated with the central through hole of the end cover; the two connecting seats are respectively and fixedly connected with the outer ends of the two end covers, and connecting studs are respectively fixed on the two connecting seats to respectively form a first outer connecting end and a second outer connecting end of the leather bag supporting component.
3. The rigid-flexible fusion continuous propulsion pipeline robot of claim 1, characterized in that: the end of the hydraulic cylinder or the pneumatic cylinder, which extends out of the piston rod, is provided with external threads and is a first external connection end of the actuator telescopic assembly; the cylinder body end of the hydraulic cylinder or the pneumatic cylinder is provided with a bolt column to form a second external end of the actuator telescopic assembly.
4. The rigid-flexible fusion continuous propulsion pipeline robot of claim 1, characterized in that: the two ends of the quick connection assembly are externally connected ends and are respectively provided with a threaded hole.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113357482A (en) * | 2021-07-30 | 2021-09-07 | 天津科技大学 | Flexible-driven active steering type pipeline robot |
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